KR100459605B1 - Apparatus for controlling vision in fabrication line of a vehicle and method thereof - Google Patents

Abstract

The present invention is a work balance system that is fixed to the body panel by the operation of the clamp through the cylinder after seating the body panel in the body assembly line in the body assembly line, is installed in the upper portion of the work cart is installed or not And a plurality of cameras obtained by capturing a lock image of each clamp fixing the vehicle body, and analyzing the vehicle body images output from the plurality of cameras, respectively, and determining whether the vehicle body is seated, and then clamping the work cart when the vehicle body is seated. In addition, the controller is provided with a controller for moving the work cart to the lower part of the camera to obtain an image of the corresponding clamp, comparing the reference data with the reference data, and determining and controlling whether the clamp is locked. Many switches, such as limit switches, proximity switches, or photosensors, can be used to detect Instead of removing the sensor, it checks whether the body panel and clamps are properly seated and fixed by the vision method using a plurality of cameras, thereby reducing the error of the system due to the vision method, simplifying the work cart and improving productivity. Provided is a vision control device for a vehicle and a method thereof.

Description

Vision control device and method for assembly of vehicle body {APPARATUS FOR CONTROLLING VISION IN FABRICATION LINE OF A VEHICLE AND METHOD THEREOF}

The present invention relates to a bogie system for carrying and working a body panel on an automobile assembly line, and more particularly, in the construction of an assembly work cart for carrying out a specific assembly in each assembly process of a body by mounting a body panel on a work cart. Instead of removing a plurality of mounting sensors that detect whether the vehicle is properly seated and fixed on the trolley, the system acquires images of panels and clamps by using a plurality of cameras and controls the operation by checking whether the vehicle is properly seated and fixed. The present invention relates to a vision control device for a vehicle body assembly bogie and a method thereof, which can implement an error reduction and a simple work bogie.

In the assembly line, dozens or hundreds of work carts are installed to transport each car body, and each work cart is equipped with a plurality of mounting sensors such as limit switches, proximity switches or photo sensors to detect whether the car body is normally seated and fixed. It consists of a plurality of clamp devices for holding and supporting the vehicle body in accordance with the detection of the mounting sensor. For example, the work trolley has about 40 to 45 clamp units and mounting sensors per unit, and the mounting sensor-related cable is about 150 wires, which is quite complicated.

In the conventional work cart system configured as described above, the mounting sensor for detecting normal seating and clamping of the car body is installed in the work cart in a mechanical manner on the work cart for seating and transporting the car body. It was difficult, due to the mechanical element of the mounting sensor has a problem that the production operation rate is lowered because of its short life or frequent failures.

In addition, due to the complicated structure of the equipment, the maintenance cost of the assembly line and waste of time are incurred, and the structure of the equipment is difficult to improve due to the installation constraints. It was complicated and time consuming, and there were many signal transmission cables according to a plurality of mounting sensors, causing complex and frequent operation errors in the facility.

Accordingly, an object of the present invention is to mount the body panel in a vision manner using a plurality of cameras instead of removing a plurality of mounting sensors such as a limit switch or a proximity switch or a photo sensor to detect whether the body panel is fixed to the work cart. The present invention provides a vision control apparatus and method for assembly of a vehicle body that can reduce the error of the system due to the vision method, simplify the work cart, and improve productivity.

Another object of the present invention is to simplify the equipment by eliminating a plurality of mounting sensors such as limit switches or proximity switches or photosensors to detect whether the body panel is fixed to the work cart and its cables, thereby simplifying the operation and maintenance The present invention provides a vision control device for a vehicle body assembly bogie and a method for increasing the efficiency thereof.

1 is a view showing a balance and vision control apparatus according to the present invention,

2A and 2B are diagrams for explaining a process of recognizing whether the clamp is locked using a camera.

3a and 3b is a flow chart showing the operation of the vision control apparatus according to an embodiment of the present invention,

4 and 5 are flowcharts showing the process of the model of the work cart according to the present invention and the basic setting data of each clamp,

6 is a screen configuration diagram showing an example of setting data and inspection data of each element per unit work balance according to the present invention.

* Explanation of symbols for the main parts of the drawings

10: work cart (bogie) 11: cylinder

15: clamp 20: hydraulic tank

25: solenoid valve 50: camera

100: controller 110: memory

120: input means 130: display means

150: vision control means 160: clamp driving unit

170: vehicle moving means 180: alarm signal generating means

Technical means of the present invention for achieving the above object, in the work cart system for mounting the body panel to the work cart in the body assembly line, and then proceed to work by fixing the body panel by the operation of the clamp through the cylinder: A plurality of cameras installed at an upper portion of the trolley to capture and acquire a locking image of each clamp for fixing the vehicle body and the vehicle body; And a memory storing a position value of each clamp according to the model of the bogie, a number of a corresponding camera matched to each clamp, a reference value of whether the clamp is locked, and various control programs, and a vehicle seating signal obtained from the camera. It controls the horizontal movement and shooting of the trolley, receives the clamp image obtained from the camera, compares it with the reference data, determines whether the vehicle is locked, and controls the horizontal movement of the trolley, the camera selection control for each clamp, and the output of the result data. According to the vision control means, and the clamp driving unit for locking the vehicle body by supplying and operating hydraulic pressure to the cylinder of each clamp in accordance with the output signal of the vision control means when the vehicle body is seated on the trolley, and according to the output control signal of the vision control means To move the cart horizontally to the bottom of a specific camera to capture the clamp And a controller consisting of differential moving means.

In addition, the technical method of the present invention for achieving the above object, in the operation control method for fixing the vehicle body panel by the operation of the clamp through the cylinder after mounting the vehicle body panel to the work cart in the body assembly line: Setting a model, a camera matching each clamp, and reference data for determining whether each clamp is locked; Capturing whether the vehicle body is seated on the work cart through the camera after the setting and determining whether the vehicle body is seated from the acquired image; If the vehicle body is seated, driving the corresponding clamps of the work cart to lock the vehicle body; Determining whether the clamp is locked after locking the vehicle body and horizontally moving the work cart to a lower portion of the camera to obtain an image of the clamp; If the clamp is not locked, repeating a predetermined number of times to obtain an image of the clamp and determining whether the clamp is locked again; Storing the malfunction information of the clamp and generating an alarm signal when the clamp is not locked even in the repeatedly acquired image; And when the clamp is locked, storing and displaying normal operation information and acquiring an image with the corresponding camera of the next clamp to determine whether the clamp is locked or horizontally moving the next clamp of the work cart to the position of the camera. It characterized in that to perform.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a view showing a balance and vision control apparatus according to the present invention, which comprises a work balance 10, a plurality of cameras 50 (50a to 50d) and a controller (100).

The work cart 10 is a device for performing a series of tasks related to vehicle assembly by mounting and fixing the vehicle body in the vehicle assembly line, using a clamp 15 for interlocking the vehicle body seated through a predetermined robot with the hydraulic cylinder 11. It is configured to be fixed to the camera, the camera 50 is installed on the upper portion of the work cart 10, a plurality of vision to obtain by taking a lock image of each clamp 15 to secure the vehicle body seating and the vehicle body The controller 100 analyzes the vehicle body images respectively output from the plurality of cameras 50 to determine whether the vehicle is seated, and then operates the clamp 15 of the work cart 10 when the vehicle body is seated. In addition to locking the vehicle body, the work cart 10 may be moved to the lower portion of the camera 50 to acquire an image of the clamp 15 to determine and control whether the clamp 15 locks the vehicle body. It consists of a roller (100).

As shown in FIG. 1, the controller 100 includes a position value of each clamp 15 according to a model of the bogie 10, a number of a corresponding camera 50 matching the clamp 15, and a clamp. The memory 110 storing the lock reference value and various control programs of (15) and the model name of the trolley 10 on which the vehicle body is seated, or the lock reference reference data and various setting values of the clamp 15; An input means such as a keyboard and a mouse 120, a monitor for displaying image information of the work cart 10 obtained through the camera 50, basic inspection setting values for each truck, and vehicle body locking data for each clamp; The same control means for the horizontal movement and shooting of the work cart 10 according to the display means 130, and the vehicle seating signal obtained from the camera 50, as well as receiving an image of the clamp obtained from the camera 50 After comparing with data It is composed of a vision control means 150, such as a microprocessor for determining whether to lock the vehicle body, and control the horizontal movement of the work cart 10, the camera selection control for each clamp and the output of the result data.

In addition, when the vehicle body is seated on the work cart 10, the controller 100 supplies and operates hydraulic pressure to the cylinder 11 of each clamp 15 according to the output signal of the vision control means 150. Clamp driver 160 for clamping and fixing, and moving the work cart 10 to the lower portion of the specific camera 50 in accordance with the output control signal of the vision control means 150 to photograph the locking of the clamp 15 It consists of a balance moving means 170 to be.

In addition, the controller 100 is a buzzer that generates an alarm signal according to a control signal of the vision control means 150 when an error occurs in the operation of the clamp 15 when determining whether the vehicle body is clamped by the camera 50. And alarm signal generating means 180 such as an alarm lamp.

The camera 50 is fixedly installed on the upper portion of the work cart 10, and if the direction in which the work cart 10 moves horizontally in the longitudinal direction, the camera 50 is a predetermined interval in the width direction of the work cart 10. In this case, it is preferable to install two to four cameras 50 in terms of control and economics.

By detecting and checking whether the clamp 15 is locked by using the camera 50 as described above, a plurality of mechanical limit switches for detecting whether the clamp 15 is locked in the clamp 15 as in the prior art. By removing the work cart 10 more simplified. As a result, the maintenance and maintenance of the work cart 10 is more efficient and convenient. In the past, the mechanical error limit switch attached to the cylinder 11 is eliminated, thereby greatly reducing the operation error, thereby increasing production efficiency.

2A and 2B are diagrams for explaining a process of recognizing whether the clamp is locked by using a camera. As shown in FIG. 2A, when the clamp 15 is locked, the vision area V / of the camera 50 is locked. The upper end (black area) of the clamp 15 is photographed at A), and the vision control means 150 of the controller 100 detects the clamp 15 at a black image area ratio in the detected vision area V / A. It is determined whether the lock.

In addition, as shown in FIG. 2B, when the clamp 15 is opened, the upper end of the clamp 15 is not detected in the vision area V / A of the camera 50, and in the vision control means 150 of the controller 100. It is determined whether the clamp 15 is opened based on the black image area ratio in the detected vision area V / A.

Therefore, in the memory 110 of the vision control means 150, the reference data related to the black area per vision area V / A, which can be determined as the locking of the clamp 15 in the vision area V / A, is previously displayed. Since the size of the clamp 15 installed in the same work cart 10 also varies from about 3 cm to about 25 cm in diameter, black for each clamp can determine the locking state of the clamp 15 for each clamp 15. The reference data for the area are different.

3A to 3B are flowcharts illustrating an operation process of a vision control apparatus according to an embodiment of the present invention, which will be described with reference to FIGS. 1 and 2 as follows.

First, the model of the work cart 10 on which the vehicle body is seated using the input means 120 of the controller 100, the position data of the corresponding clamp 15, the camera 50 matching each clamp 15, and each Reference data for determining whether the clamp 15 is locked are prepared and stored in advance in the memory 110 (S1).

Thereafter, the vision control means 150 of the controller 100 receives the vehicle body image signal output through the camera 50 and calculates an area ratio of white or black of the image to determine whether the vehicle body is seated on the work cart 10. It is determined (S2, S3). That is, the vehicle body is seated at a corresponding position of the work cart 10 by a predetermined robot, and at this time, the robot controller generates an event signal to the controller 100 and accordingly, The vision control means 150 generates a photographing start signal with the camera 50 to photograph whether or not the vehicle body is seated. In addition, in the case of the vehicle body, since the vehicle body is white, the vision control means 150 recognizes whether the vehicle body is seated at a white area ratio (clamp is determined as a black area ratio).

When it is recognized that the vehicle body is seated by the vision of the camera 50 (S3), the vision control means 150 outputs a control signal to the corresponding clamp driver 160, accordingly the clamp driver 160 is a hydraulic tank ( The valve opening signal is output to the solenoid valve 25 installed at the output end of 20) so that the hydraulic pressure is supplied to the cylinder 11. The cylinder 11 is operated up and down according to the supplied hydraulic pressure to rotate the clamp 15 coupled to one side about a predetermined rotation axis to lock the vehicle body seated on the work cart 10 (S4).

Here, the number of clamps 15 installed on the work cart 10 is about 40, but not all 40 clamps 15 are operated at the same time, but a plurality of corresponding clamps according to the work process (work order) ( Only the 15) can be used to fix the bodywork. In general, five work processes are sequentially performed on one vehicle body, and the clamps 15 to be operated according to the work processes are different from each other, and the corresponding clamps 15 to be operated according to the work processes are stored in the memory 110. It is set in advance.

Subsequently, the vision control means 150 controls the balance moving means 170 according to the work process set in advance in the memory 110 and the position value of the clamp 15 according to the corresponding clamp 15 of the work balance 10. Is moved horizontally to the lower position of the camera 50 (S5), through the camera 50 to obtain an image of the clamp 15 as shown in Figure 2a or 2b. Here, if there is no malfunction of the clamp 15, an image as shown in FIG. 2A will be obtained. If there is a malfunction in the clamp 15, an image as shown in FIG. 2B will be obtained.

The vision control means 150 receives the image of the clamp 15 obtained from the camera 50, calculates the black area ratio of the clamp 15, and then sets the reference of the corresponding clamp 15 preset in the memory 110. It is determined whether the clamp 15 is locked by comparing with the data (S6 and S7). If the area ratio of black is greater than the reference data in the vision area V / A, the clamp 15 is determined to be locked, and if the area ratio of black is less than the reference data in the vision area V / A, the clamp ( 15) judge that it is not locked. Of course, the program can be changed to determine whether the clamp is locked based on the white area ratio.

If it is determined that the clamp 15 is not locked in the above, the vision control means 150 acquires the image of the clamp 15 through the camera 50 again and the black area ratio of the clamp 15 is obtained. It is determined again whether or not the lock (S8, S9). At this time, the malfunction information of the clamp 15 is stored in the memory 110 and displayed on the display means 130.

When the clamp 15 is not locked in the above, it is determined that the image is acquired and locked repeatedly for a predetermined number of times (S10). If the clamp 15 is found to be not locked even in the repeatedly acquired image, the vision The control means 150 stores the malfunction information of the corresponding clamp 15 in the memory 110 to construct a database and to display it through the display means 130, and also to control the alarm signal generating means 180 to alarm the signal. By generating a, it allows the administrator to take immediate action (S11, S12).

Meanwhile, when the clamp 15 is locked in the process of determining whether the corresponding clamp 15 is locked (S7 or S9), the normal operation information is stored in the memory 110 and the display unit 130 is constructed as a database. (S13).

Subsequently, the vision control means 150 controls the corresponding camera 50 of the clamp 15 after being set in the memory 110 to acquire an image, and then determines whether the clamp 15 is locked or operated in the same manner as described above. The next clamp 15 of the trolley 10 is horizontally moved to the position of the camera 50 to determine whether the clamp 15 is locked in the same manner as described above (S14 and S15).

In this way, after determining whether the clamp 15 is locked according to the order of the work process, if there is no abnormality, serial work is automatically or manually performed on the vehicle body.

Subsequently, when the second work is performed on the same vehicle body after the first work process is completed, the corresponding clamp 15 according to the work process (work order) among the plurality of clamps is reactivated. The clamp 15 is operated and the clamp 15 is checked for locking.

4 and 5 are views of the model of the work cart 10 of FIG. 3A, the position data of the corresponding clamp 15, and the locking of the camera 50 and each clamp 15 matching each of the clamps 15. It shows the process of setting the reference data to be judged in more detail.

4 is a flow chart for registering the model of the work balance, first enters the model name of the work balance 10 from the model registration table displayed on the display means 130 to the input means 120 of the controller 100 and then the worker name (S1-1, S1-2).

Then, the work process per work cart, that is, the work order, is input to the input means 120 (S1-3), and when the camera 15 determines whether the clamp 15 is locked, rechecking when the clamp 15 malfunctions. The number of times is written (S1-4) and stored in the memory 110 (S1-5).

Subsequently, as shown in FIG. 5, the default value of each clamp 15 is set. Among the plurality of clamps 15, the model registration table displayed on the display unit 130 is input to the input means 120 of the controller 100. After the name or number of the specific clamp 15 is entered (S1-6), the camera 50 matching with the designated clamp 15 is selected and the number of the camera 50 is entered (S1-7).

Subsequently, the position of the clamp 15 on the work cart 10 is input (S1-8), and then the data for locking or opening the clamp 15 according to each work order is input (S1-9). It is stored in the 110 (S1-10).

In this way, setting each default value for multiple clamps sets the default value for each clamp per workbench.

6 is a screen configuration diagram showing an example of the setting data and inspection data of each element per unit work cart according to the present invention. The inspection table includes a model number of the work cart 10 and a work order according to the work order. Data obtained by photographing the clamp state of each clamp 15, the clamp name of each clamp 15, the serial number of each clamp 15, and each clamp 15 Black area-related data (Area), black area-related reference data (Range) to determine whether the clamp 15 is locked, detailed setting data and inspection for the camera number specified in each clamp 15 The data is displayed. The data corresponding to the model name, clamp state, clamp name, index, range, and camera are basic data set in the same manner as in FIGS. 4 and 5, and the data corresponding to the area is shown in FIGS. 3A and 3B. It is black area data of each clamp 15 obtained through the process.

For example, the first clamp (first row in FIG. 5) will be described as an example. The model name of the work cart 10 equipped with the first clamp is 'fo-side bogie-rh2' and the clamp state is '1150'. Therefore, the first clamp is locked from the first to fourth operations, and the first clamp is opened during the fifth operation. In addition, the clamp name of the first clamp commonly known in the industry is 'u111a', and the index of the first camera commonly referred to is indicated by '1', and the area of the black area obtained through the camera is '55'. , Range, which is the reference data that can be determined by locking the clamp, is '40', and the corresponding camera of the first clamp is camera '0'.

Therefore, since the black area of the first clamp 15 acquired through the camera No. 50 is '55' and the reference data range is '40', the acquired black area is the reference. Since it is larger than the data, the vision control means 150 determines that the first clamp 15 is locked. On the contrary, when the Area value is smaller than the Range value, it is determined that the clamp 15 is open.

Although a specific embodiment of the present invention has been described and illustrated above, instead of moving the work cart when acquiring the images of each clamp, the camera may be horizontally moved to acquire an image of the corresponding clamp or the number of cameras may be varied.

In addition, instead of removing the electrical or mechanical sensors that detect the forward, reverse, rise, and fall of the trucks on the body assembly line, cameras can be installed in each direction to detect the moving position and operating state of the trucks in a non-linear way. Instead of removing the mounting sensor that detects the forward, backward, rising and falling of the lift that moves the vehicle body to the next process, the camera may be installed in each direction to detect the lift position by vision. Instead of removing the electrical or mechanical sensors that detect the Fusa's forward and backward movements, cameras can be installed in each direction to detect the operation of each device in a non-vision manner.

Such modified embodiments should not be understood individually from the technical spirit or the prospect of the present invention, but should fall within the claims appended to the present invention.

Therefore, in the present invention, instead of removing a plurality of mounting sensors such as limit switches or proximity switches or photosensors to detect whether the vehicle body panel is properly fixed to the work cart to obtain images of the car body panel and the clamp using a plurality of cameras By checking the normal seating and fixing of the vehicle body, it eliminates a large number of sensors and its cables, simplifying the equipment and maximizing work efficiency.

In addition, not only the clamp of the bogie, but also the bogie forward, reverse, ascending and descending of the bogie, and the advance, backward, ascending and descending of the lift, and the forward, backward, ascending, descending, cylinder forward and backward of the cylinder, etc. By using non-mechanical sensors to detect the operation status and position, it is possible to use semi-permanently so that the productivity can be further increased by optimizing the production utilization rate and the installation conditions due to the simplification of the equipment. This simple and convenient structure improvement of the equipment as well as less installation time of the equipment, there is a variety of advantages such as easy to install even a lot of moving equipment without cables.

Claims (6)

In a work cart system where a body panel is seated on a work cart in a body assembly line and the body panel is fixed by operation of a clamp through a cylinder: A plurality of cameras installed at an upper portion of the trolley to capture and acquire a lock image of each clamp that fixes the vehicle body and the vehicle body; And The balance according to the position value of each clamp according to the model of the balance, the number of the corresponding camera matched to each clamp, a reference value of whether the clamp is locked, and various control programs, and a body seating signal obtained from the camera. Control the horizontal movement and shooting of the camera, and compare the reference data with the reference data, determine whether the vehicle is locked, and control the horizontal movement of the truck, the camera selection control for each clamp, and the output of the result data. Vision control means, a clamp driving unit for locking the vehicle body by supplying and operating hydraulic pressure to the cylinder of each clamp in accordance with the output signal of the vision control means when the vehicle body is seated on the bogie, and the vehicle according to the output control signal of the vision control means To move the camera horizontally to the bottom of the specific camera so that the clamp can be locked Vision control apparatus of the vehicle for the vehicle body assembly comprising the; controller consisting of a driving means. The method according to claim 1, The controller, Input means for inputting a model name of the vehicle on which the vehicle body is seated or inputting reference data for locking the clamp and various setting values; And And display means for displaying image information of the balance obtained through the camera, basic inspection set values for each balance, and vehicle body locking status data for each clamp. 2. The method according to claim 1, The controller, And an alarm signal generating means for generating an alarm signal according to a control signal when an error occurs in the operation of the clamp when the camera determines whether the vehicle body is clamped or not. In the operation control method of fixing the body panel by the operation of the clamp through the cylinder after mounting the body panel to the bogie in the body assembly line: Setting reference models for determining whether the model of the balance, the camera matching each clamp, and whether each clamp is locked; Capturing whether the vehicle body is seated on the vehicle through the camera after the setting as an image, and determining whether the vehicle body is seated from the acquired image; If the vehicle body is seated, driving the corresponding clamps of the vehicle to lock the vehicle body; Determining whether the clamp is locked after locking the vehicle body and horizontally moving the trolley to the lower portion of the camera to obtain an image of the clamp; If the clamp is not locked, repeating a predetermined number of times to obtain an image of the clamp and determining whether the clamp is locked again; Storing the malfunction information of the clamp and generating an alarm signal when the clamp is not locked even in the repeatedly acquired image; And Storing and displaying normal operation information when the clamp is locked, and determining whether the clamp is locked by acquiring an image with the corresponding camera of the next clamp or horizontally moving the next clamp of the cart to the position of the camera; Vision control method of the body assembly bogie, characterized in that. The method according to claim 4, The reference data for determining whether the clamp is locked, the vision control method of the body assembly bogie, characterized in that differently set for each clamp size. The method according to claim 4, In the process of determining whether the body panel is seated, the vehicle body is determined based on the white area ratio acquired by the camera, and in the process of determining whether the clamp is locked, the clamp is determined based on the black area ratio obtained by the camera. Vision control method of the vehicle body assembly bogie, characterized in that determining whether the lock.